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MAE 4344 Mechanical & Aerospace Engineering University of Texas at Arlington Mukund Narasimhan & Kent L Lawrence
Link Specs
Each link is 0.5 inch thick and 1.0 inch wide. The pin holes are 0.5 inch in diameter, and link lengths are between pin hole centers. The material for each is steel.
Joint definitions
Motion
The 5 inch input link rotates at a constant angular speed of 1800 rpm = 10,800 deg/sec in a CCW sense. Find the connection forces at each joint for one revolution of the mechanism.
GROUND BLOCK
Change units from Inch Lbm Sec to Inch Lbf Sec for ALL parts.
LINK 1
LINK 2
LINK 3
Edit > Setup > Material > Define > (Enter material name) Steel > Accept
A notepad opens up > Enter MASS_DENSITY = 0.7331E-03 > File > Save as > Steel.mat > Exit (First toggle on all files not TXT.)
Assign > From Part > STEEL > Accept > Done
Edit > Setup > Material > Assign > From Part > STEEL > Done
Edit > Setup > Material > Assign > From Part > STEEL > Done
SET UNITS FOR ASSEMBLY Edit > Setup > Units > Select Inch Pound Second > Set > Select the 1st option > Ok > Close > Done
Click on Ok
Back Surface
Keep the default Pin joint > Axis Alignment > Select A1 and A3 axes (Yellow Arrows) Translation > Select the surfaces as shown (Green Arrows)
Back surface
Keep the default Pin joint > Axis Alignment > Select A4 and A3 axes (Yellow Arrows) Translation > Select the surfaces as shown (Green Arrows)
First Align Constraint surfaces indicated by yellow arrows Second Align Constraint surfaces indicated by green arrows Third Mate Constraint surfaces indicated by orange arrows
Keep the default Pin joint > Axis Alignment > Select A4 and A3 axes (Yellow Arrows) Translation > Select the surfaces as shown (blue Arrows)
Align the A4 with A1 and for Translation Select the surfaces as indicated by green arrows.
1>
Select the JOINT 1 axis indicated by orange colored arrow to be the servo motor axis. > Enter 10800 > OK > Close
Click on New.
Set Motion Start, End time and Interval. Click on Run to compute the results > OK > Close Note that the initial configuration is the current position.
3>
Use default name measure1. Select Type of parameter > Position > select the JOINT 3 axis > OK.
Click on Analysis Icon > New > Select Type Dynamic > Run > OK > Close Note that the initial condition is the current state.
Select Generate Measure Results of Analyses to obtain the value of forces on the selected joints.
Select the joint and the measure to be plotted onto the Graph. In this case the Radial Forces are computed for all the Joints.
Now the JOINT 2 is selected and component to be plotted Radial Force > OK.
Select measure2 and Analysis Definition2 > Click on the Graph icon at the top left.
One can also write the results into Text file. Later this can be opened in notepad or wordpad.
Slides 65 through 73 do the same for JOINTS 1, 3, & 4. Skip ahead to Slide 74
Select measure3 and Analysis Definition2 > Click on the Graph icon at the top left
3>
Select measure4 and Analysis Definition2 > Click on the Graph icon at the top left
Select measure5 and Analysis Definition2 > Click on the Graph icon at the top left
Create new measure > Net load > (pick the servo motor)
Information note: To verify this analysis with an existing SI analysis everything was switched to SI for the Torque calculation. Note on previous slide that the measure units are m-N as are the torque results on the next slide. To verify these results, either convert your lbf-in torque to N-m for comparison or convert units during the analysis as we did.
Fin